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<div class="title">pyramid.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_PYRAMID_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_PYRAMID_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/point_operators.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>filters</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html">   62</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1filters_1_1_pyramid.html">Pyramid</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud&lt;PointT&gt;::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud&lt;PointT&gt;::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; Pyramid&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const Pyramid&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html">Pyramid</a> (<span class="keywordtype">int</span> levels = 4)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          : <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a421e2d411172adc23ba76a79a6f5c725">levels_</a> (levels)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          , <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a019163e3bae8de7652566f2e4d83ef91">large_</a> (<span class="keyword">false</span>)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          , <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ae9684a8a0e8b8c351f5dc7c134b431b0">threshold_</a> (0.01)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          , <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#afa6680c314b3e9d07e79a783986453bc">threads_</a> (0)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ad4533d28b1966832730d3fa68881dfea">name_</a> = <span class="stringliteral">&quot;Pyramid&quot;</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#aa05721343da8b52426dcb1b704452e02">   83</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#aa05721343da8b52426dcb1b704452e02">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud) { <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a7f84159105826f392f69b4408078b2f3">input_</a> = cloud; }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a6190a9ba01f9e164313f2f7f377f6c88">   87</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a6190a9ba01f9e164313f2f7f377f6c88">getInputCloud</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a7f84159105826f392f69b4408078b2f3">input_</a>); }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a1421311278e5d90a4cb936a88ff79cb8">   93</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a1421311278e5d90a4cb936a88ff79cb8">setNumberOfLevels</a> (<span class="keywordtype">int</span> levels) { <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a421e2d411172adc23ba76a79a6f5c725">levels_</a> = levels; }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a0f827772542d5fa4df7210608972f433">   97</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a0f827772542d5fa4df7210608972f433">getNumberOfLevels</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a421e2d411172adc23ba76a79a6f5c725">levels_</a>); }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a708555045622338b43cf7a1439ce6d03">  103</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a708555045622338b43cf7a1439ce6d03">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#afa6680c314b3e9d07e79a783986453bc">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a85795a7ea853143678a8ad02a2aae296">  109</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a85795a7ea853143678a8ad02a2aae296">setLargeSmoothingKernel</a> (<span class="keywordtype">bool</span> large) { <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a019163e3bae8de7652566f2e4d83ef91">large_</a> = large; }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a69d206f5d132cc93c8ec8889f2106d04">  117</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a69d206f5d132cc93c8ec8889f2106d04">setDistanceThreshold</a> (<span class="keywordtype">float</span> threshold) { <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ae9684a8a0e8b8c351f5dc7c134b431b0">threshold_</a> = threshold; }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a32e8b1516818794aabad33ab343cdca5">  121</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a32e8b1516818794aabad33ab343cdca5">getDistanceThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ae9684a8a0e8b8c351f5dc7c134b431b0">threshold_</a>); }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a1685b0b45e15390522d88c1914fbcfb8">compute</a> (std::vector&lt;PointCloudPtr&gt;&amp; output);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        getClassName ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ad4533d28b1966832730d3fa68881dfea">name_</a>); }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a7f125d5f50904617d893a9381f27c0f7">initCompute</a> ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#afdcb18098b44b1c45fc51850404a9284">  143</a></span>&#160;        <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#afdcb18098b44b1c45fc51850404a9284">nullify</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          p.x = p.y = p.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a7f84159105826f392f69b4408078b2f3">  149</a></span>&#160;        PointCloudConstPtr <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a7f84159105826f392f69b4408078b2f3">input_</a>;</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a421e2d411172adc23ba76a79a6f5c725">  151</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a421e2d411172adc23ba76a79a6f5c725">levels_</a>;</div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#a019163e3bae8de7652566f2e4d83ef91">  153</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#a019163e3bae8de7652566f2e4d83ef91">large_</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#ad4533d28b1966832730d3fa68881dfea">  155</a></span>&#160;        std::string <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ad4533d28b1966832730d3fa68881dfea">name_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#af16363aa8b728ccbb6929625f5d19fe7">  157</a></span>&#160;        Eigen::MatrixXf <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#af16363aa8b728ccbb6929625f5d19fe7">kernel_</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#ae9684a8a0e8b8c351f5dc7c134b431b0">  159</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#ae9684a8a0e8b8c351f5dc7c134b431b0">threshold_</a>;</div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1filters_1_1_pyramid.html#afa6680c314b3e9d07e79a783986453bc">  161</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1filters_1_1_pyramid.html#afa6680c314b3e9d07e79a783986453bc">threads_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    };</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html">pcl::filters::Pyramid</a></div><div class="ttdef"><b>Definition:</b> pyramid.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a019163e3bae8de7652566f2e4d83ef91"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a019163e3bae8de7652566f2e4d83ef91">pcl::filters::Pyramid::large_</a></div><div class="ttdeci">bool large_</div><div class="ttdoc">use large smoothing kernel</div><div class="ttdef"><b>Definition:</b> pyramid.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a0f827772542d5fa4df7210608972f433"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a0f827772542d5fa4df7210608972f433">pcl::filters::Pyramid::getNumberOfLevels</a></div><div class="ttdeci">int getNumberOfLevels() const</div><div class="ttdef"><b>Definition:</b> pyramid.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a1421311278e5d90a4cb936a88ff79cb8"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a1421311278e5d90a4cb936a88ff79cb8">pcl::filters::Pyramid::setNumberOfLevels</a></div><div class="ttdeci">void setNumberOfLevels(int levels)</div><div class="ttdoc">Set the number of pyramid levels</div><div class="ttdef"><b>Definition:</b> pyramid.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a1685b0b45e15390522d88c1914fbcfb8"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a1685b0b45e15390522d88c1914fbcfb8">pcl::filters::Pyramid::compute</a></div><div class="ttdeci">void compute(std::vector&lt; PointCloudPtr &gt; &amp;output)</div><div class="ttdoc">compute the pyramid levels.</div><div class="ttdef"><b>Definition:</b> pyramid.hpp:90</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a32e8b1516818794aabad33ab343cdca5"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a32e8b1516818794aabad33ab343cdca5">pcl::filters::Pyramid::getDistanceThreshold</a></div><div class="ttdeci">float getDistanceThreshold() const</div><div class="ttdef"><b>Definition:</b> pyramid.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a421e2d411172adc23ba76a79a6f5c725"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a421e2d411172adc23ba76a79a6f5c725">pcl::filters::Pyramid::levels_</a></div><div class="ttdeci">int levels_</div><div class="ttdoc">number of pyramid levels</div><div class="ttdef"><b>Definition:</b> pyramid.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a6190a9ba01f9e164313f2f7f377f6c88"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a6190a9ba01f9e164313f2f7f377f6c88">pcl::filters::Pyramid::getInputCloud</a></div><div class="ttdeci">PointCloudConstPtr const getInputCloud()</div><div class="ttdoc">Get a pointer to the input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pyramid.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a69d206f5d132cc93c8ec8889f2106d04"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a69d206f5d132cc93c8ec8889f2106d04">pcl::filters::Pyramid::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(float threshold)</div><div class="ttdef"><b>Definition:</b> pyramid.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a708555045622338b43cf7a1439ce6d03"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a708555045622338b43cf7a1439ce6d03">pcl::filters::Pyramid::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> pyramid.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a7f125d5f50904617d893a9381f27c0f7"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a7f125d5f50904617d893a9381f27c0f7">pcl::filters::Pyramid::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">init computation</div><div class="ttdef"><b>Definition:</b> pyramid.hpp:44</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a7f84159105826f392f69b4408078b2f3"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a7f84159105826f392f69b4408078b2f3">pcl::filters::Pyramid::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pyramid.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_a85795a7ea853143678a8ad02a2aae296"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#a85795a7ea853143678a8ad02a2aae296">pcl::filters::Pyramid::setLargeSmoothingKernel</a></div><div class="ttdeci">void setLargeSmoothingKernel(bool large)</div><div class="ttdoc">Choose a larger smoothing kernel for enhanced smoothing.</div><div class="ttdef"><b>Definition:</b> pyramid.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_aa05721343da8b52426dcb1b704452e02"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#aa05721343da8b52426dcb1b704452e02">pcl::filters::Pyramid::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pyramid.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_ad4533d28b1966832730d3fa68881dfea"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#ad4533d28b1966832730d3fa68881dfea">pcl::filters::Pyramid::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">filter name</div><div class="ttdef"><b>Definition:</b> pyramid.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_ae9684a8a0e8b8c351f5dc7c134b431b0"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#ae9684a8a0e8b8c351f5dc7c134b431b0">pcl::filters::Pyramid::threshold_</a></div><div class="ttdeci">float threshold_</div><div class="ttdoc">Threshold distance between adjacent points</div><div class="ttdef"><b>Definition:</b> pyramid.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_af16363aa8b728ccbb6929625f5d19fe7"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#af16363aa8b728ccbb6929625f5d19fe7">pcl::filters::Pyramid::kernel_</a></div><div class="ttdeci">Eigen::MatrixXf kernel_</div><div class="ttdoc">smoothing kernel</div><div class="ttdef"><b>Definition:</b> pyramid.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_afa6680c314b3e9d07e79a783986453bc"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#afa6680c314b3e9d07e79a783986453bc">pcl::filters::Pyramid::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">number of threads</div><div class="ttdef"><b>Definition:</b> pyramid.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_pyramid_html_afdcb18098b44b1c45fc51850404a9284"><div class="ttname"><a href="classpcl_1_1filters_1_1_pyramid.html#afdcb18098b44b1c45fc51850404a9284">pcl::filters::Pyramid::nullify</a></div><div class="ttdeci">void nullify(PointT &amp;p) const</div><div class="ttdoc">nullify a point</div><div class="ttdef"><b>Definition:</b> pyramid.h:143</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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